Depends on the drive and the utility that was used to format it. Try it and see if it boots. Make sure the drive is terminated, and don't connect anything else on the SCSI buss for the test. If it works, you're home free.
If it doesn't work, then you'll need to format the drive and install drivers on it that are compatible with the drive and a Plus. If you have the manufacturer's format utility for your drive, run it from the Plus, and it will select the proper driver. If you don't have the original utility for your drive, then something like FWB's Hard Disk Toolkit will handle most drive + Mac combinations.